Started rewriting rx library

include/rx.h

@@ -0,0 +1,11 @@
+/*
+ * FrSky RX 2-way protocol
+ */
+
+#ifndef _RX_H
+#define _RX_H
+
+void rxInit(void);
+
+#endif
+

src/frsky_arduino_rx_complete.c

@@ -1,682 +0,0 @@
-/*
- * Frsky RX 2-way
- *  By  Midelic
- *  on RCGroups
- * an adaptation from Kyrre Aalerud(Kreature)
- * 2012 Frsky rx demo code
- * http://www.rcgroups.com/forums/showthread.php?t=1667453
- * Thanks also to Phracturedblue and his deviation firmware
- **********************************
- */
-
-#include <avr/interrupt.h>
-#include <EEPROM.h>
-#include "iface_cc2500.h"
-//#define DEBUG
-//#define DEBUG_RSSI
-//#define DEBUG0
-//#define DEBUG1
-//#define DEBUG2
-//#define DEBUG3
-//#define DEBUG4
-//#define DEBUG5
-//#define RSSI_OVER_PPM 7
-
-#define FAILSAFE
-#define SPIBB
-//#define SPIHW
-#if defined SPIHW
-    #include <SPI.h>
-#endif
-
-// Used for RSSI_OVER_PPM
-int rssi;
-const int rssi_offset = 71;
-const int rssi_min = -103;
-const int rssi_max = -96;
-
-#define chanel_number 8  //set the number of chanels
-#define SEEK_CHANSKIP   13
-#define MAX_MISSING_PKT 20
-#define FAILSAFE_MISSING_PKT 170
-#define PPM_FrLen 22500
-#define PPM_PulseLen 300
-#define default_servo_value 1500
-#define onState 0  //set polarity of the pulses: 1 is positive, 0 is negative
-#define sigPin 10
-
-#if defined(SPIBB)
-    #define MO_pin 5                    //D5
-    #define MI_pin 6                    //D6
-    #define SCLK_pin 4                  //D4
-    #define CS 2                        //D2
-    #define GDO_pin 3                   //D3  GDO0 pin
-    #define SCK_on PORTD |= 0x10        //D4
-    #define SCK_off PORTD &= 0xEF       //D4
-    #define MO_on PORTD |= 0x20         //D5 
-    #define MO_off PORTD &= 0xDF        //D5
-    #define MI_1 (PIND & 0x40) == 0x40  //D6 input
-    #define MI_0 (PIND & 0x40) == 0x00  //D6
-    #define CS_on PORTD |= 0x04         //D2
-    #define CS_off PORTD &= 0xFB        //D2 
-    #define GDO_1 (PIND & 0x08) == 0x08 //D3 input
-    #define GDO_0 (PIND & 0x08) == 0x00 //D3  
-#endif
-
-#define bind_pin A0     //C0 bind plug also servo8
-
-#define Servo1_OUT 7    //Servo1(D7)
-#define Servo2_OUT 8    //Servo2(B0)
-#define Servo3_OUT 9    //Servo3(B1)
-#define Servo4_OUT 10   //Servo4(B2)//PPM pin
-#define Servo5_OUT 11   //Servo5(B3)
-#define Servo6_OUT 12   //Servo6(B4)
-#define Servo7_OUT 13   //Servo7(B5)
-#define Servo8_OUT A0   //Servo8(C0)
-
-#define Servo1_OUT_HIGH PORTD |= _BV(7) //Servo1(D7)
-#define Servo2_OUT_HIGH PORTB |= _BV(0) //Servo2(B0)
-#define Servo3_OUT_HIGH PORTB |= _BV(1) //Servo3(B1)
-#define Servo4_OUT_HIGH PORTB |= _BV(2) //Servo4(B2)
-#define Servo5_OUT_HIGH PORTB |= _BV(3) //Servo5(B3)
-#define Servo6_OUT_HIGH PORTB |= _BV(4) //Servo6(B4)
-#define Servo7_OUT_HIGH PORTB |= _BV(5) //Servo7(B5) 
-#define Servo8_OUT_HIGH PORTC |= _BV(0) //Servo8(C0)
-#define Servo_Ports_LOW PORTD &= 0x7F ; PORTB &= 0xc0; PORTC &=0xFE //all servos low
-
-#define LED_pin A3
-#define LED_ON  PORTC |= _BV(3)
-#define LED_OFF  PORTC &= ~_BV(3)
-#define NOP() __asm__ __volatile__("nop")
-        
-
-// Globals:
-static uint8_t ccData[27];
-static uint8_t ccLen;
-static boolean packet = false;
-//static uint16_t time;
-static uint8_t channr;
-static uint8_t missingPackets = 0;
-uint8_t calData[60];
-uint8_t hopData[60];
-uint8_t listLength;
-uint8_t txid[2];
-static uint8_t counter = 0;
-volatile uint16_t Servo_data[10] = {1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500};
-volatile byte scale;
-static byte jumper1 = 0;
-static byte jumper2 = 0;
-volatile int ppm[chanel_number];
-volatile bool failed = false;
-static uint16_t total_servo_time = 0;
-static byte cur_chan_numb = 0;
-boolean debug = false;
-int count = 0;
-uint16_t c[8];
-boolean debug2 = true;
-boolean debug3 = false;
-
-void setup()
-{
-
-    #if defined(SPIBB)
-        pinMode(MO_pin, OUTPUT);    //SI
-        pinMode(MI_pin, INPUT);     //SO
-        pinMode(SCLK_pin, OUTPUT);  //SCLK
-        pinMode(CS, OUTPUT);        //CS output
-        pinMode(GDO_pin, INPUT);    //GDO0 pin
-        SCK_off;                    //start sck low
-        MO_off;                     //low
-    #endif
-    
-    pinMode(LED_pin, OUTPUT);
-    CS_on;
-
-    #if defined(SPIHW)
-        pinMode(CS, OUTPUT);
-        pinMode(GDO_pin, INPUT);
-        SPI.setClockDivider(SPI_CLOCK_DIV2);
-        SPI.setBitOrder( MSBFIRST);
-        SPI.begin();
-    #endif
-
-    pinMode(Servo1_OUT, OUTPUT); //Servo1
-    pinMode(Servo2_OUT, OUTPUT); //Servo2
-    pinMode(Servo3_OUT, OUTPUT); //Servo3
-    pinMode(Servo4_OUT, OUTPUT); //Servo4
-    //
-    pinMode(Servo6_OUT, OUTPUT); //Servo6
-    pinMode(Servo7_OUT, OUTPUT); //Servo7
-    pinMode(Servo8_OUT, OUTPUT); //Servo8
-    //Servo8_OUT_HIGH;//bindpin pullup
-
-    #if defined DEBUG
-        Serial.begin(115200);
-        int8_t i;
-        Serial.print("PartNum ");
-        i = cc2500_readReg(CC2500_30_PARTNUM + CC2500_READ_BURST);
-        Serial.println(i);
-        delay(10);
-        Serial.print("Version ");
-        i = cc2500_readReg(CC2500_31_VERSION + CC2500_READ_BURST);
-        Serial.println(i);
-    #endif
-    
-    #if F_CPU == 16000000
-        scale = 2;
-    #elif F_CPU == 8000000
-        scale = 1;
-    #else
-        #error // 8 or 16MHz only !
-    #endif
-
-
-
-    initialize(1);                  //binding
-    binding();
-    pinMode(Servo8_OUT, OUTPUT);    //Servo8.bind pin is set to output again.
-    initialize(0);                  //data
-    
-    jumper1 = PPM_jumper(); // Check the possible jumper positions for changing the receiver mode.
-    
-    if (jumper1 == 1) {
-        //initiallize default ppm values
-        for (int i = 0; i < chanel_number; i++) {
-            ppm[i] = default_servo_value;
-        }
-        pinMode(sigPin, OUTPUT);
-        digitalWrite(sigPin, !onState);  //set the PPM signal pin to the default state (off)
-    }
-    config_timer();
-    channr = 0;
-    cc2500_writeReg(CC2500_0A_CHANNR, hopData[channr]);//0A-hop
-    cc2500_writeReg(CC2500_23_FSCAL3, 0x89); //23-89
-    cc2500_strobe(CC2500_SRX);
-}
-
-void updateRSSI() {
-#if defined(RSSI_OVER_PPM)
-    int rssi_dec = cc2500_readReg(CC2500_34_RSSI | CC2500_READ_BURST);
-    if (rssi_dec < 128) {
-        rssi = ((rssi_dec / 2) - rssi_offset) & 0x7f;
-    } else {
-        rssi = (((rssi_dec - 256) / 2)) - rssi_offset;
-    }
-
-  #if defined(DEBUG_RSSI2)
-    Serial.print(millis());
-    Serial.print("\t");
-    Serial.println(rssi);
-  #endif
-
-    rssi = constrain(rssi, rssi_min, rssi_max);
-#endif
-}
-
-void loop()
-{
-    unsigned long time = micros();
-
-    #if defined(FAILSAFE)
-        if (missingPackets > FAILSAFE_MISSING_PKT) {
-            failed = true;
-            missingPackets = 0;
-        }
-    #endif
-
-    while (1) {
-        if ((micros() - time) > 9000) {
-            missingPackets++;
-            cc2500_strobe(CC2500_SIDLE);
-            if (missingPackets > MAX_MISSING_PKT) {
-                nextChannel(SEEK_CHANSKIP);
-                LED_OFF;
-                counter++;
-                if (counter > (MAX_MISSING_PKT << 1))
-                    LED_ON;
-                if (counter == (MAX_MISSING_PKT << 2)) counter = 0;
-                break;
-            } else
-                nextChannel(1);
-            break;
-        }
-        if (GDO_1) {
-            ccLen = cc2500_readReg(CC2500_3B_RXBYTES | CC2500_READ_BURST) & 0x7F;
-            if (ccLen > 20)
-                ccLen = 20;//
-            if (ccLen) {
-                cc2500_readFifo((uint8_t *)ccData, ccLen);
-                if (ccData[ccLen - 1] & 0x80) { // Only if correct CRC
-                    missingPackets = 0;
-                    if (ccData[0] == 0x11) { // Correct length
-                        if ((ccData[1] == txid[0]) && (ccData[2] == txid[1])) { // Only if correct txid
-                            packet = true;
-                            //sei();    ///////////////////////////////////////////////////////////////////////////////////////
-                            updateRSSI();
-                            cc2500_strobe(CC2500_SIDLE);
-                            nextChannel(1);
-                            LED_ON;
-                            failed = false;
-                            break;
-                        }
-                    }
-                }
-
-            }
-
-        }
-    }
-
-    if (packet == true) {
-        packet = false;
-        debug = true;
-        //cli();
-        c[0] = (uint16_t)(ccData[10] & 0x0F) << 8 | ccData[6];
-        c[1] = (uint16_t)(ccData[10] & 0xF0) << 4 | ccData[7];
-        c[2] = (uint16_t)(ccData[11] & 0x0F) << 8 | ccData[8];
-        c[3] = (uint16_t)(ccData[11] & 0xF0) << 4 | ccData[9];
-        c[4] = (uint16_t)(ccData[16] & 0x0F) << 8 | ccData[12];
-        c[5] = (uint16_t)(ccData[16] & 0xF0) << 4 | ccData[13];
-        c[6] = (uint16_t)(ccData[17] & 0x0F) << 8 | ccData[14];
-        c[7] = (uint16_t)(ccData[17] & 0xF0) << 4 | ccData[15];
-        //sei();
-        for (int i = 0; i < 8; i++) {
-            Servo_data[i] = 0.67 * c[i];
-            if (Servo_data[i] < 900) { //added new
-                Servo_data[i] = 1500; //added new
-                Servo_data[2] = 1000;
-            }
-            ppm[i] = Servo_data[i];
-        }
-        #if defined(RSSI_OVER_PPM)
-          ppm[RSSI_OVER_PPM] = map(rssi, rssi_min, rssi_max, 1000, 2000);
-        #endif
-        #if defined(DEBUG5)
-                //Serial.println(rssi);
-        #endif
-        #if defined(DEBUG0)
-                for (int i = 0; i < 8; i++) {
-                    Serial.print(" ");
-                    Serial.print(Servo_data[i]);
-                    Serial.print(" ");
-                }
-                Serial.println(" ");
-        #endif
-    }
-
-    cc2500_strobe(CC2500_SRX);
-    if (debug == true) {
-        debug = false;
-        #if defined(DEBUG2)
-                Serial.println(ccData[3], HEX);
-        #endif
-    }
-}
-
-void initialize(int bind)
-{
-    cc2500_resetChip();
-    cc2500_writeReg(CC2500_02_IOCFG0,   0x01);  // reg 0x02: RX complete interrupt(GDO0)
-    cc2500_writeReg(CC2500_17_MCSM1,    0x0C);  // reg 0x17:
-    cc2500_writeReg(CC2500_18_MCSM0,    0x18);  // reg 0x18:
-    cc2500_writeReg(CC2500_06_PKTLEN,   0x19);  // Leave room for appended status bytes
-    cc2500_writeReg(CC2500_08_PKTCTRL0, 0x05);  // reg 0x08:
-    cc2500_writeReg(CC2500_3E_PATABLE,  0xFF);  //
-    cc2500_writeReg(CC2500_0B_FSCTRL1,  0x08);  // reg 0x0B:
-    cc2500_writeReg(CC2500_0C_FSCTRL0,  0x00);  // reg 0x0C
-    cc2500_writeReg(CC2500_0D_FREQ2,    0x5C);  // reg 0x0D
-    cc2500_writeReg(CC2500_0E_FREQ1,    0x76);  // reg 0x0E
-    cc2500_writeReg(CC2500_0F_FREQ0,    0x27);  // reg 0x0F
-    cc2500_writeReg(CC2500_10_MDMCFG4,  0xAA);  // reg 0x10
-    cc2500_writeReg(CC2500_11_MDMCFG3,  0x39);  // reg 0x11
-    cc2500_writeReg(CC2500_12_MDMCFG2,  0x11);  // reg 0x12
-    cc2500_writeReg(CC2500_13_MDMCFG1,  0x23);  // reg 0x13
-    cc2500_writeReg(CC2500_14_MDMCFG0,  0x7A);  // reg 0x14
-    cc2500_writeReg(CC2500_15_DEVIATN,  0x42);  // reg 0x15
-    cc2500_writeReg(CC2500_19_FOCCFG,   0x16);  // reg 0x16
-    cc2500_writeReg(CC2500_1A_BSCFG,    0x6C);  // reg 0x1A
-    cc2500_writeReg(CC2500_1B_AGCCTRL2, 0x03);  // reg 0x1B
-    cc2500_writeReg(CC2500_1C_AGCCTRL1, 0x40);  // reg 0x1C
-    cc2500_writeReg(CC2500_1D_AGCCTRL0, 0x91);  // reg 0x1D
-    cc2500_writeReg(CC2500_21_FREND1,   0x56);  // reg 0x21:
-    cc2500_writeReg(CC2500_22_FREND0,   0x10);  // reg 0x22:
-    cc2500_writeReg(CC2500_23_FSCAL3,   0xA9);  // reg 0x23:
-    cc2500_writeReg(CC2500_24_FSCAL2,   0x05);  // reg 0x24:
-    cc2500_writeReg(CC2500_25_FSCAL1,   0x00);  // reg 0x25
-    cc2500_writeReg(CC2500_26_FSCAL0,   0x11);  // reg 0x26
-    cc2500_writeReg(CC2500_29_FSTEST,   0x59);  // reg 0x29
-    cc2500_writeReg(CC2500_2C_TEST2,    0x88);  // reg 0x2C
-    cc2500_writeReg(CC2500_2D_TEST1,    0x31);  // reg 0x2D
-    cc2500_writeReg(CC2500_2E_TEST0,    0x0B);  // reg 0x2E
-    cc2500_writeReg(CC2500_03_FIFOTHR,  0x0F);  // reg 0x03:
-    cc2500_writeReg(CC2500_09_ADDR, bind ? 0x03 : txid[0]);
-    cc2500_strobe(CC2500_SIDLE);    // Go to idle...
-    cc2500_writeReg(CC2500_07_PKTCTRL1, 0x0D);  // reg 0x07 hack: Append status, filter by address, auto-flush on bad crc, PQT=0
-    //cc2500_writeReg(CC2500_0C_FSCTRL0, 0);    // Frequency offset...
-    cc2500_writeReg(CC2500_0C_FSCTRL0, bind ? 0x00 : count); // Frequency offset hack
-    cc2500_writeReg(CC2500_0A_CHANNR, 0x00);
-}
-// Receives complete bind setup
-void getBind(void)
-{
-    cc2500_strobe(CC2500_SRX);//enter in rx mode
-    listLength = 0;
-    boolean eol = false;
-    //           len|bind |tx id|idx|h0|h1|h2|h3|h4|00|00|00|00|00|00|01
-    // Start by getting bind packet 0 and the txid
-    //        0  1   2  txid0(3) txid1()4    5  6  7   8  9 10 11 12 13 14 15 16 17
-    //ccdata    //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
-    while (1) {
-        if (GDO_1) {
-            ccLen = cc2500_readReg(CC2500_3B_RXBYTES | CC2500_READ_BURST) & 0x7F;
-            if (ccLen) {
-                cc2500_readFifo((uint8_t *)ccData, ccLen);
-                if (ccData[ccLen - 1] & 0x80) {
-                    if (ccData[2] == 0x01) {
-                        if (ccData[5] == 0x00) {
-                            txid[0] = ccData[3];
-                            txid[1] = ccData[4];
-                            for (uint8_t n = 0; n < 5; n++) {
-                                hopData[ccData[5] + n] = ccData[6 + n];
-                            }
-                            break;
-                        }
-                    }
-                }
-            }
-        }
-    }
-
-    #if defined(DEBUG)
-        Serial.print(txid[0], HEX);
-        Serial.println(txid[1], HEX);
-    #endif
-
-    for (uint8_t bindIdx = 0x05; bindIdx <= 120; bindIdx += 5) {
-        while (1) {
-            if (GDO_1) {
-                ccLen = cc2500_readReg(CC2500_3B_RXBYTES | CC2500_READ_BURST) & 0x7F;
-                if (ccLen) {
-                    cc2500_readFifo((uint8_t *)ccData, ccLen);
-                    if (ccData[ccLen - 1] & 0x80) {
-                        if (ccData[2] == 0x01) {
-                          if(debug3) {
-                            Serial.print("ccLen = ");
-                            Serial.println(ccLen);
-                          }
-                            if ((ccData[3] == txid[0]) && (ccData[4] == txid[1])) {
-                              if(debug3) 
-                              {
-                                Serial.print("ccData[5] = ");
-                                Serial.println(ccData[5]);
-                                Serial.print("bindIdx = ");
-                                Serial.println(bindIdx);                      
-                              }
-                                if (ccData[5] == bindIdx) {
-                                    for (uint8_t n = 0; n < 5; n++) {
-                                      if(debug3) 
-                                      {
-                                        Serial.print("ccData[6 + n] = ");
-                                        Serial.println(ccData[6 + n]);
-                                        Serial.print("ccData[ccLen - 3] = ");
-                                        Serial.println(ccData[ccLen - 3]);                      
-                                      }
-                                        //if (ccData[6 + n] == ccData[ccLen - 3]) {
-                                          if (ccData[6 + n] <= 3) {
-                                            eol = true;
-                                            #if defined(DEBUG)
-                                                Serial.print("listLength: ");
-                                                Serial.println(listLength);
-                                            #endif
-                                            listLength = ccData[5] + n;
-                                            break;
-                                        }
-                                        hopData[ccData[5] + n] = ccData[6 + n];
-                                    }
-                                    break;
-                                }
-                            }
-                        }
-                    }
-                }
-            }
-        }
-        #if defined(DEBUG)
-                Serial.println(bindIdx / 5);
-        #endif
-        if (eol) break; // End of list found, stop!
-    }
-
-    #if defined(DEBUG)
-        listLength = 47;
-        Serial.println("jumpIdx list: ");
-        for (uint8_t jumpIdx = 0; jumpIdx < (listLength); jumpIdx++) {
-            Serial.print(" ");
-            Serial.print(hopData[jumpIdx], HEX);
-            Serial.print(" ");
-        }
-        Serial.println(" ");
-    #endif
-
-    Store_bind();
-    cc2500_strobe(CC2500_SIDLE);    // Back to idle
-}
-
-ISR(TIMER1_COMPA_vect)
-{
-    if (failed) {
-        digitalWrite(sigPin, HIGH);
-        return;
-    }
-
-    TCNT1 = 0;
-    if (jumper1 == 0) {
-        pinMode(Servo5_OUT, OUTPUT);
-        Servo_Ports_LOW;
-        //code for servo.
-        cur_chan_numb++; //next servo
-        if (cur_chan_numb < chanel_number) {
-            total_servo_time += Servo_data[cur_chan_numb] * scale;
-            OCR1A = Servo_data[cur_chan_numb] * scale;
-        } else {
-            OCR1A = PPM_FrLen * scale - total_servo_time;
-            cur_chan_numb = 0xff;
-            total_servo_time = 0;
-        }
-
-        switch (cur_chan_numb) {
-        case 0:
-            Servo1_OUT_HIGH;
-            break;
-        case 1:
-            Servo2_OUT_HIGH;
-            break;
-        case 2:
-            Servo3_OUT_HIGH;
-            break;
-        case 3:
-            Servo4_OUT_HIGH;
-            break;
-        case 4:
-            Servo5_OUT_HIGH;
-            break;
-        case 5:
-            Servo6_OUT_HIGH;
-            break;
-        case 6:
-            Servo7_OUT_HIGH;
-            break;
-        case 7:
-            Servo8_OUT_HIGH;
-            break;
-        }
-    } else {
-        static boolean state = true;
-        pinMode(sigPin, OUTPUT);
-        digitalWrite(sigPin, !onState);
-
-        if (state) {
-            digitalWrite(sigPin, onState);
-            OCR1A = PPM_PulseLen * scale;
-            state = false;
-        } else {
-            static byte cur_chan_numb;
-            static unsigned int calc_rest;
-            // digitalWrite(sigPin, !onState);//PPM on servo4 pin10
-            state = true;
-
-            if (cur_chan_numb >= chanel_number) {
-                cur_chan_numb = 0;
-                calc_rest = calc_rest + PPM_PulseLen;//
-                OCR1A = (PPM_FrLen - calc_rest) * scale;
-                calc_rest = 0;
-            } else {
-                OCR1A = (ppm[cur_chan_numb] - PPM_PulseLen) * scale;
-                calc_rest = calc_rest + ppm[cur_chan_numb];
-                cur_chan_numb++;
-            }
-        }
-    }
-}
-
-void config_timer()
-{
-    OCR1A = 50 * scale;
-    cli();
-    TCCR1A = 0; //
-    TCCR1B = 0;
-    TCCR1B |= (1 << WGM12);
-    TCCR1B |= (1 << CS11);
-    TIMSK1 |= (1 << OCIE1A);
-    sei();
-}
-
-void nextChannel(uint8_t skip)
-{
-    channr += skip;//
-    if (channr >= listLength) channr -= listLength;
-    cc2500_writeReg(CC2500_0A_CHANNR, hopData[channr]);
-    cc2500_writeReg(CC2500_23_FSCAL3, 0x89);
-
-}
-
-void binding()
-{
-    jumper2 = bind_jumper();
-    while (1) {
-        if (jumper2 == 0) { //bind complete or no bind
-            uint8_t i;
-            uint8_t adr = 100;
-            for (i = 0; i < 2; i++) {
-                txid[i] = EEPROM.read(adr + i);
-            }
-            if (txid[0] == 0xff && txid[1] == 0xff) {
-                // No valid txid, forcing bind
-                jumper2 = 1;
-                continue;
-            }
-            for (i = 0; i < sizeof(hopData); i++) {
-                hopData[i] = EEPROM.read(adr + 10 + i);
-            }
-            listLength = EEPROM.read(adr + 100);
-            count = EEPROM.read(adr + 101);
-            break;
-        } else {
-            LED_ON;
-            tunning();
-            //count=0xC8;//for test
-            cc2500_writeReg(CC2500_0C_FSCTRL0, count);
-            int adr = 100;
-            EEPROM.write(adr + 101, count);
-            getBind();
-            while (1) {
-                LED_ON;
-                delay(500);
-                LED_OFF;
-                delay(500);
-            }
-        }
-    }
-}
-
-
-void tunning()
-{
-    cc2500_strobe(CC2500_SRX);//enter in rx mode
-    int count1 = 0;
-    while (1) {
-        count1++;
-        if (count >= 250) {
-            count = 0;
-        }
-        if (count1 > 3000) {
-            count1 = 0;
-            cc2500_writeReg(CC2500_0C_FSCTRL0, count);  // Frequency offset hack
-            count = count + 10;
-            //cc2500_strobe(CC2500_SRX);//enter in rx mode
-        }
-        if (GDO_1) {
-            ccLen = cc2500_readReg(CC2500_3B_RXBYTES | CC2500_READ_BURST) & 0x7F;
-            if (ccLen) {
-                cc2500_readFifo((uint8_t *)ccData, ccLen);
-                if (ccData[ccLen - 1] & 0x80) {
-                    if (ccData[2] == 0x01) {
-                        if (ccData[5] == 0x00) {
-                            break;
-                        }
-                    }
-                }
-            }
-        }
-    }
-    #if defined(DEBUG1)
-        Serial.println(count, HEX);
-    #endif
-}
-
-
-
-void Store_bind()
-{
-    uint8_t i;
-    int adr = 100;
-    for (i = 0; i < 2; i++) {
-        EEPROM.write(adr + i, txid[i]);
-    }
-    for (i = 0; i < sizeof(hopData); i++) {
-        EEPROM.write(adr + 10 + i, hopData[i]);
-    }
-    EEPROM.write(adr + 100, listLength);
-}
-
-unsigned char PPM_jumper(void)
-{
-    // PPM Selection (jumper between Ch1 and ch3)
-    pinMode(Servo3_OUT, INPUT); //CH3 input
-    digitalWrite(Servo3_OUT, HIGH); // pull up
-    digitalWrite(Servo1_OUT, HIGH); // CH1 is HIGH
-    delayMicroseconds(1);
-    if ( digitalRead(Servo3_OUT) == HIGH) {
-        digitalWrite(Servo1_OUT, LOW); // CH1 is LOW
-        delayMicroseconds(1);
-        if (digitalRead(Servo3_OUT) == LOW) { // OK jumper plugged
-            pinMode(Servo3_OUT, OUTPUT);
-            return  1;
-        }
-    }
-    pinMode(Servo3_OUT, OUTPUT);
-
-    return  0; // servo PWM by default
-}
-
-//bind jumper
-unsigned char bind_jumper(void)
-{
-    pinMode(bind_pin, INPUT_PULLUP);//pull up
-    if ( digitalRead(bind_pin) == LOW) {
-        delayMicroseconds(1);
-        return 1;
-    }
-    return  0;
-}

src/rx.c

@@ -0,0 +1,462 @@
+/*
+ * FrSky RX 2-way protocol
+ */
+
+#include <stdint.h>
+#include <avr/io.h>
+#include <avr/interrupt.h>
+#include <avr/eeprom.h>
+
+#include "cc2500.h"
+#include "spi.h"
+#include "timer.h"
+
+
+// ----------------------------------------------------------------------------
+
+
+//#define DEBUG
+//#define DEBUG_RSSI
+//#define DEBUG0
+//#define DEBUG1
+//#define DEBUG2
+//#define DEBUG3
+//#define DEBUG4
+//#define DEBUG5
+//#define RSSI_OVER_PPM 7
+
+#define FAILSAFE
+
+// Used for RSSI_OVER_PPM
+int rssi;
+const int rssi_offset = 71;
+const int rssi_min = -103;
+const int rssi_max = -96;
+
+#define chanel_number 8  //set the number of chanels
+#define SEEK_CHANSKIP   13
+#define MAX_MISSING_PKT 20
+#define FAILSAFE_MISSING_PKT 170
+#define PPM_FrLen 22500
+#define PPM_PulseLen 300
+#define default_servo_value 1500
+#define onState 0  //set polarity of the pulses: 1 is positive, 0 is negative
+#define sigPin 10
+
+#define bind_pin A0     //C0 bind plug also servo8
+
+#define TRUE 1
+#define FALSE 0
+
+// Globals:
+static uint8_t ccData[27];
+static uint8_t ccLen;
+static uint8_t packet = FALSE;
+static uint8_t channr = 0;
+static uint8_t missingPackets = 0;
+uint8_t hopData[60];
+uint8_t listLength;
+uint8_t txid[2];
+static uint8_t counter = 0;
+volatile uint16_t Servo_data[10] = {1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500};
+volatile int ppm[chanel_number];
+volatile uint8_t failed = FALSE;
+int count = 0;
+uint16_t c[8];
+
+
+void getBind(void);
+void Store_bind(void);
+void updateRSSI(void);
+void loop(void);
+void nextChannel(uint8_t skip);
+void tuning(void);
+
+
+// ----------------------------------------------------------------------------
+
+static void initialize(uint8_t bind);
+static void binding(void);
+
+void rxInit(void) {
+    initialize(1); // binding
+    binding();
+
+    initialize(0); // data
+    cc2500WriteReg(CC2500_0A_CHANNR, hopData[channr]);//0A-hop
+    cc2500WriteReg(CC2500_23_FSCAL3, 0x89); //23-89
+    cc2500Strobe(CC2500_SRX);
+}
+
+
+static void initialize(uint8_t bind) {
+    cc2500ResetChip();
+    cc2500WriteReg(CC2500_02_IOCFG0,   0x01); // RX complete interrupt(GDO0)
+    cc2500WriteReg(CC2500_17_MCSM1,    0x0C);
+    cc2500WriteReg(CC2500_18_MCSM0,    0x18);
+    cc2500WriteReg(CC2500_06_PKTLEN,   0x19); // Leave room for appended status bytes
+    cc2500WriteReg(CC2500_08_PKTCTRL0, 0x05);
+    cc2500WriteReg(CC2500_3E_PATABLE,  0xFF);
+    cc2500WriteReg(CC2500_0B_FSCTRL1,  0x08);
+    cc2500WriteReg(CC2500_0C_FSCTRL0,  0x00);
+    cc2500WriteReg(CC2500_0D_FREQ2,    0x5C);
+    cc2500WriteReg(CC2500_0E_FREQ1,    0x76);
+    cc2500WriteReg(CC2500_0F_FREQ0,    0x27);
+    cc2500WriteReg(CC2500_10_MDMCFG4,  0xAA);
+    cc2500WriteReg(CC2500_11_MDMCFG3,  0x39);
+    cc2500WriteReg(CC2500_12_MDMCFG2,  0x11);
+    cc2500WriteReg(CC2500_13_MDMCFG1,  0x23);
+    cc2500WriteReg(CC2500_14_MDMCFG0,  0x7A);
+    cc2500WriteReg(CC2500_15_DEVIATN,  0x42);
+    cc2500WriteReg(CC2500_19_FOCCFG,   0x16);
+    cc2500WriteReg(CC2500_1A_BSCFG,    0x6C);
+    cc2500WriteReg(CC2500_1B_AGCCTRL2, 0x03);
+    cc2500WriteReg(CC2500_1C_AGCCTRL1, 0x40);
+    cc2500WriteReg(CC2500_1D_AGCCTRL0, 0x91);
+    cc2500WriteReg(CC2500_21_FREND1,   0x56);
+    cc2500WriteReg(CC2500_22_FREND0,   0x10);
+    cc2500WriteReg(CC2500_23_FSCAL3,   0xA9);
+    cc2500WriteReg(CC2500_24_FSCAL2,   0x05);
+    cc2500WriteReg(CC2500_25_FSCAL1,   0x00);
+    cc2500WriteReg(CC2500_26_FSCAL0,   0x11);
+    cc2500WriteReg(CC2500_29_FSTEST,   0x59);
+    cc2500WriteReg(CC2500_2C_TEST2,    0x88);
+    cc2500WriteReg(CC2500_2D_TEST1,    0x31);
+    cc2500WriteReg(CC2500_2E_TEST0,    0x0B);
+    cc2500WriteReg(CC2500_03_FIFOTHR,  0x0F);
+
+    cc2500WriteReg(CC2500_09_ADDR, bind ? 0x03 : txid[0]);
+
+    cc2500Strobe(CC2500_SIDLE); // Go to idle...
+
+    // hack: Append status, filter by address, auto-flush on bad crc, PQT=0
+    cc2500WriteReg(CC2500_07_PKTCTRL1, 0x0D);
+
+    //cc2500WriteReg(CC2500_0C_FSCTRL0, 0); // Frequency offset
+    cc2500WriteReg(CC2500_0C_FSCTRL0, bind ? 0x00 : count); // Frequency offset hack
+
+    cc2500WriteReg(CC2500_0A_CHANNR, 0x00);
+}
+
+
+static void binding(void) {
+    uint8_t jumper2 = 0; //bind_jumper();
+
+    while (1) {
+        if (jumper2 == 0) {
+            // bind complete or no bind
+            uint8_t adr = 100;
+            for (uint8_t i = 0; i < 2; i++) {
+                txid[i] = eeprom_read_byte(adr + i);
+            }
+            if ((txid[0] == 0xff) && (txid[1] == 0xff)) {
+                // No valid txid, forcing bind
+                jumper2 = 1;
+                continue;
+            }
+            for (uint8_t i = 0; i < sizeof(hopData); i++) {
+                hopData[i] = eeprom_read_byte(adr + 10 + i);
+            }
+            listLength = eeprom_read_byte(adr + 100);
+            count = eeprom_read_byte(adr + 101);
+            break;
+        } else {
+            tuning();
+            //count=0xC8;//for test
+            cc2500WriteReg(CC2500_0C_FSCTRL0, count);
+            int adr = 100;
+            eeprom_write_byte(adr + 101, count);
+            getBind();
+            // TODO reset?!
+            while (1) { }
+        }
+    }
+}
+
+
+// ----------------------------------------------------------------------------
+
+
+
+// Receives complete bind setup
+void getBind(void)
+{
+    cc2500Strobe(CC2500_SRX);//enter in rx mode
+    listLength = 0;
+    uint8_t eol = FALSE;
+    //           len|bind |tx id|idx|h0|h1|h2|h3|h4|00|00|00|00|00|00|01
+    // Start by getting bind packet 0 and the txid
+    //        0  1   2  txid0(3) txid1()4    5  6  7   8  9 10 11 12 13 14 15 16 17
+    //ccdata    //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
+    while (1) {
+        if (GDO_1) {
+            ccLen = cc2500ReadReg(CC2500_3B_RXBYTES | CC2500_READ_BURST) & 0x7F;
+            if (ccLen) {
+                cc2500ReadFifo((uint8_t *)ccData, ccLen);
+                if (ccData[ccLen - 1] & 0x80) {
+                    if (ccData[2] == 0x01) {
+                        if (ccData[5] == 0x00) {
+                            txid[0] = ccData[3];
+                            txid[1] = ccData[4];
+                            for (uint8_t n = 0; n < 5; n++) {
+                                hopData[ccData[5] + n] = ccData[6 + n];
+                            }
+                            break;
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    #if defined(DEBUG)
+        Serial.print(txid[0], HEX);
+        Serial.println(txid[1], HEX);
+    #endif
+
+    for (uint8_t bindIdx = 0x05; bindIdx <= 120; bindIdx += 5) {
+        while (1) {
+            if (GDO_1) {
+                ccLen = cc2500ReadReg(CC2500_3B_RXBYTES | CC2500_READ_BURST) & 0x7F;
+                if (ccLen) {
+                    cc2500ReadFifo((uint8_t *)ccData, ccLen);
+                    if (ccData[ccLen - 1] & 0x80) {
+                        if (ccData[2] == 0x01) {
+#if DEBUG3
+                            Serial.print("ccLen = ");
+                            Serial.println(ccLen);
+#endif
+                            if ((ccData[3] == txid[0]) && (ccData[4] == txid[1])) {
+#if DEBUG3
+                                Serial.print("ccData[5] = ");
+                                Serial.println(ccData[5]);
+                                Serial.print("bindIdx = ");
+                                Serial.println(bindIdx);
+#endif
+                                if (ccData[5] == bindIdx) {
+                                    for (uint8_t n = 0; n < 5; n++) {
+#if DEBUG3
+                                        Serial.print("ccData[6 + n] = ");
+                                        Serial.println(ccData[6 + n]);
+                                        Serial.print("ccData[ccLen - 3] = ");
+                                        Serial.println(ccData[ccLen - 3]);
+#endif
+                                        //if (ccData[6 + n] == ccData[ccLen - 3]) {
+                                          if (ccData[6 + n] <= 3) {
+                                            eol = TRUE;
+                                            #if defined(DEBUG)
+                                                Serial.print("listLength: ");
+                                                Serial.println(listLength);
+                                            #endif
+                                            listLength = ccData[5] + n;
+                                            break;
+                                        }
+                                        hopData[ccData[5] + n] = ccData[6 + n];
+                                    }
+                                    break;
+                                }
+                            }
+                        }
+                    }
+                }
+            }
+        }
+        #if defined(DEBUG)
+                Serial.println(bindIdx / 5);
+        #endif
+        if (eol) break; // End of list found, stop!
+    }
+
+    #if defined(DEBUG)
+        listLength = 47;
+        Serial.println("jumpIdx list: ");
+        for (uint8_t jumpIdx = 0; jumpIdx < (listLength); jumpIdx++) {
+            Serial.print(" ");
+            Serial.print(hopData[jumpIdx], HEX);
+            Serial.print(" ");
+        }
+        Serial.println(" ");
+    #endif
+
+    Store_bind();
+    cc2500Strobe(CC2500_SIDLE);    // Back to idle
+}
+
+
+
+
+
+void Store_bind()
+{
+    uint8_t i;
+    int adr = 100;
+    for (i = 0; i < 2; i++) {
+        eeprom_write_byte(adr + i, txid[i]);
+    }
+    for (i = 0; i < sizeof(hopData); i++) {
+        eeprom_write_byte(adr + 10 + i, hopData[i]);
+    }
+    eeprom_write_byte(adr + 100, listLength);
+}
+
+
+
+
+void updateRSSI() {
+#if defined(RSSI_OVER_PPM)
+    int rssi_dec = cc2500ReadReg(CC2500_34_RSSI | CC2500_READ_BURST);
+    if (rssi_dec < 128) {
+        rssi = ((rssi_dec / 2) - rssi_offset) & 0x7f;
+    } else {
+        rssi = (((rssi_dec - 256) / 2)) - rssi_offset;
+    }
+
+  #if defined(DEBUG_RSSI2)
+    Serial.print(millis());
+    Serial.print("\t");
+    Serial.println(rssi);
+  #endif
+
+    rssi = constrain(rssi, rssi_min, rssi_max);
+#endif
+}
+
+void loop()
+{
+    time_t time = timerGet();
+
+    #if defined(FAILSAFE)
+        if (missingPackets > FAILSAFE_MISSING_PKT) {
+            failed = TRUE;
+            missingPackets = 0;
+        }
+    #endif
+
+    while (1) {
+        if ((timerGet() - time) > 9) {
+            missingPackets++;
+            cc2500Strobe(CC2500_SIDLE);
+            if (missingPackets > MAX_MISSING_PKT) {
+                nextChannel(SEEK_CHANSKIP);
+                counter++;
+                //if (counter > (MAX_MISSING_PKT << 1)) LED_ON;
+                if (counter == (MAX_MISSING_PKT << 2)) counter = 0;
+                break;
+            } else
+                nextChannel(1);
+            break;
+        }
+        if (GDO_1) {
+            ccLen = cc2500ReadReg(CC2500_3B_RXBYTES | CC2500_READ_BURST) & 0x7F;
+            if (ccLen > 20)
+                ccLen = 20;//
+            if (ccLen) {
+                cc2500ReadFifo((uint8_t *)ccData, ccLen);
+                if (ccData[ccLen - 1] & 0x80) { // Only if correct CRC
+                    missingPackets = 0;
+                    if (ccData[0] == 0x11) { // Correct length
+                        if ((ccData[1] == txid[0]) && (ccData[2] == txid[1])) { // Only if correct txid
+                            packet = TRUE;
+                            //sei();
+                            updateRSSI();
+                            cc2500Strobe(CC2500_SIDLE);
+                            nextChannel(1);
+                            failed = FALSE;
+                            break;
+                        }
+                    }
+                }
+
+            }
+
+        }
+    }
+
+    if (packet == TRUE) {
+        packet = FALSE;
+        //cli();
+        c[0] = (uint16_t)(ccData[10] & 0x0F) << 8 | ccData[6];
+        c[1] = (uint16_t)(ccData[10] & 0xF0) << 4 | ccData[7];
+        c[2] = (uint16_t)(ccData[11] & 0x0F) << 8 | ccData[8];
+        c[3] = (uint16_t)(ccData[11] & 0xF0) << 4 | ccData[9];
+        c[4] = (uint16_t)(ccData[16] & 0x0F) << 8 | ccData[12];
+        c[5] = (uint16_t)(ccData[16] & 0xF0) << 4 | ccData[13];
+        c[6] = (uint16_t)(ccData[17] & 0x0F) << 8 | ccData[14];
+        c[7] = (uint16_t)(ccData[17] & 0xF0) << 4 | ccData[15];
+        //sei();
+        for (int i = 0; i < 8; i++) {
+            Servo_data[i] = 0.67 * c[i];
+            if (Servo_data[i] < 900) { //added new
+                Servo_data[i] = 1500; //added new
+                Servo_data[2] = 1000;
+            }
+            ppm[i] = Servo_data[i];
+        }
+        #if defined(RSSI_OVER_PPM)
+          ppm[RSSI_OVER_PPM] = map(rssi, rssi_min, rssi_max, 1000, 2000);
+        #endif
+        #if defined(DEBUG5)
+                //Serial.println(rssi);
+        #endif
+        #if defined(DEBUG0)
+                for (int i = 0; i < 8; i++) {
+                    Serial.print(" ");
+                    Serial.print(Servo_data[i]);
+                    Serial.print(" ");
+                }
+                Serial.println(" ");
+        #endif
+    }
+
+    cc2500Strobe(CC2500_SRX);
+}
+
+
+
+
+void nextChannel(uint8_t skip)
+{
+    channr += skip;//
+    if (channr >= listLength) channr -= listLength;
+    cc2500WriteReg(CC2500_0A_CHANNR, hopData[channr]);
+    cc2500WriteReg(CC2500_23_FSCAL3, 0x89);
+
+}
+
+
+
+void tuning()
+{
+    cc2500Strobe(CC2500_SRX);//enter in rx mode
+    int count1 = 0;
+    while (1) {
+        count1++;
+        if (count >= 250) {
+            count = 0;
+        }
+        if (count1 > 3000) {
+            count1 = 0;
+            cc2500WriteReg(CC2500_0C_FSCTRL0, count);  // Frequency offset hack
+            count = count + 10;
+            //cc2500Strobe(CC2500_SRX);//enter in rx mode
+        }
+        if (GDO_1) {
+            ccLen = cc2500ReadReg(CC2500_3B_RXBYTES | CC2500_READ_BURST) & 0x7F;
+            if (ccLen) {
+                cc2500ReadFifo((uint8_t *)ccData, ccLen);
+                if (ccData[ccLen - 1] & 0x80) {
+                    if (ccData[2] == 0x01) {
+                        if (ccData[5] == 0x00) {
+                            break;
+                        }
+                    }
+                }
+            }
+        }
+    }
+    #if defined(DEBUG1)
+        Serial.println(count, HEX);
+    #endif
+}
+