Continued reordering the RX code.

src/rx.c

@@ -11,73 +11,57 @@
 #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:
+#define CHANNELS 8
+#define PPM_MIN 1000
+#define PPM_MAX 2000
+#define RSSI_OVER_PPM 7
+#define HOP_DATA_LENGTH 60
+#define EEPROM_BASE_ADDRESS 100
+#define MISSING_PACKET_DELAY 9
+#define SEEK_CHANNEL_SKIP   13
+#define MAX_MISSING_PACKET 20
+#define FAILSAFE_MISSING_PACKET 170
+
 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 hopData[HOP_DATA_LENGTH];
 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];
 
+int rssi;
+const int rssi_offset = 71;
+const int rssi_min = -103;
+const int rssi_max = -96;
 
 void getBind(void);
-void Store_bind(void);
-void updateRSSI(void);
 void loop(void);
-void nextChannel(uint8_t skip);
 void tuning(void);
 
-
 // ----------------------------------------------------------------------------
 
+static uint16_t ppmBuffer[CHANNELS];
+
+static long map(long x, long in_min, long in_max, long out_min, long out_max);
+static long constrain(long x, long min, long max);
 static void initialize(uint8_t bind);
 static void binding(void);
 
+static void nextChannel(uint8_t skip);
+static void readBindingData(void);
+static void writeBindingData(void);
+
 void rxInit(void) {
     initialize(1); // binding
     binding();
@@ -88,6 +72,19 @@ void rxInit(void) {
     cc2500Strobe(CC2500_SRX);
 }
 
+static long map(long x, long in_min, long in_max, long out_min, long out_max) {
+    return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
+}
+
+static long constrain(long x, long min, long max) {
+    if (x < min) {
+        x = min;
+    }
+    if (x > max) {
+        x = max;
+    }
+    return x;
+}
 
 static void initialize(uint8_t bind) {
     cc2500ResetChip();
@@ -138,34 +135,24 @@ static void initialize(uint8_t bind) {
     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);
-            }
+            readBindingData();
             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);
+            eeprom_write_byte(EEPROM_BASE_ADDRESS + 101, count);
             getBind();
             // TODO reset?!
             while (1) { }
@@ -173,175 +160,116 @@ static void binding(void) {
     }
 }
 
+static void nextChannel(uint8_t skip) {
+    channr += skip;
+    if (channr >= listLength) {
+        channr -= listLength;
+    }
 
-// ----------------------------------------------------------------------------
+    cc2500WriteReg(CC2500_0A_CHANNR, hopData[channr]);
+    cc2500WriteReg(CC2500_23_FSCAL3, 0x89);
+}
 
+static void readBindingData() {
+    for (uint8_t i = 0; i < 2; i++) {
+        txid[i] = eeprom_read_byte(EEPROM_BASE_ADDRESS + i);
+    }
+    for (uint8_t i = 0; i < HOP_DATA_LENGTH; i++) {
+        hopData[i] = eeprom_read_byte(EEPROM_BASE_ADDRESS + 10 + i);
+    }
+    listLength = eeprom_read_byte(EEPROM_BASE_ADDRESS + 100);
+    count = eeprom_read_byte(EEPROM_BASE_ADDRESS + 101);
+}
 
+static void writeBindingData() {
+    for (uint8_t i = 0; i < 2; i++) {
+        eeprom_write_byte(EEPROM_BASE_ADDRESS + i, txid[i]);
+    }
+    for (uint8_t i = 0; i < HOP_DATA_LENGTH; i++) {
+        eeprom_write_byte(EEPROM_BASE_ADDRESS + 10 + i, hopData[i]);
+    }
+    eeprom_write_byte(EEPROM_BASE_ADDRESS + 100, listLength);
+}
+
+// ----------------------------------------------------------------------------
 
 // 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
+void getBind(void) {
+    cc2500Strobe(CC2500_SRX); // enter in rx mode
+
     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 ((ccData[ccLen - 1] & 0x80)
+                        && (ccData[2] == 0x01)
+                        && (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
-
+    listLength = 0;
+    uint8_t eol = FALSE;
     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 ((ccData[ccLen - 1] & 0x80)
+                            && (ccData[2] == 0x01)
+                            && (ccData[3] == txid[0])
+                            && (ccData[4] == txid[1])
+                            && (ccData[5] == bindIdx)) {
+                        for (uint8_t n = 0; n < 5; n++) {
+                            //if (ccData[6 + n] == ccData[ccLen - 3]) {
+                              if (ccData[6 + n] <= 3) {
+                                eol = TRUE;
+                                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(" ");
+        if (eol) {
+            break; // End of list found, stop!
         }
-        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
+    writeBindingData();
+    cc2500Strobe(CC2500_SIDLE); // Back to idle
 }
 
-void loop()
-{
+void loop() {
     time_t time = timerGet();
 
-    #if defined(FAILSAFE)
-        if (missingPackets > FAILSAFE_MISSING_PKT) {
-            failed = TRUE;
-            missingPackets = 0;
-        }
-    #endif
+    if (missingPackets > FAILSAFE_MISSING_PACKET) {
+        failed = TRUE;
+        missingPackets = 0;
+    }
 
     while (1) {
-        if ((timerGet() - time) > 9) {
+        if ((timerGet() - time) > MISSING_PACKET_DELAY) {
             missingPackets++;
             cc2500Strobe(CC2500_SIDLE);
-            if (missingPackets > MAX_MISSING_PKT) {
-                nextChannel(SEEK_CHANSKIP);
+            if (missingPackets > MAX_MISSING_PACKET) {
+                nextChannel(SEEK_CHANNEL_SKIP);
                 counter++;
-                //if (counter > (MAX_MISSING_PKT << 1)) LED_ON;
-                if (counter == (MAX_MISSING_PKT << 2)) counter = 0;
+                //if (counter > (MAX_MISSING_PACKET << 1)) LED_ON;
+                if (counter == (MAX_MISSING_PACKET << 2)) counter = 0;
                 break;
             } else
                 nextChannel(1);
@@ -350,7 +278,7 @@ void loop()
         if (GDO_1) {
             ccLen = cc2500ReadReg(CC2500_3B_RXBYTES | CC2500_READ_BURST) & 0x7F;
             if (ccLen > 20)
-                ccLen = 20;//
+                ccLen = 20;
             if (ccLen) {
                 cc2500ReadFifo((uint8_t *)ccData, ccLen);
                 if (ccData[ccLen - 1] & 0x80) { // Only if correct CRC
@@ -359,7 +287,17 @@ void loop()
                         if ((ccData[1] == txid[0]) && (ccData[2] == txid[1])) { // Only if correct txid
                             packet = TRUE;
                             //sei();
-                            updateRSSI();
+
+#ifdef 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;
+                            }
+                            rssi = constrain(rssi, rssi_min, rssi_max);
+#endif
+
                             cc2500Strobe(CC2500_SIDLE);
                             nextChannel(1);
                             failed = FALSE;
@@ -367,9 +305,7 @@ void loop()
                         }
                     }
                 }
-
             }
-
         }
     }
 
@@ -385,50 +321,27 @@ void loop()
         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;
+
+        for (int i = 0; i < CHANNELS; i++) {
+            ppmBuffer[i] = 0.67 * c[i];
+            /*
+            if (ppmBuffer[i] < 900) {
+                ppmBuffer[i] = 1500;
+                //ppmBuffer[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
+
+#ifdef RSSI_OVER_PPM
+        ppmBuffer[RSSI_OVER_PPM] = map(rssi, rssi_min, rssi_max, PPM_MIN, PPM_MAX);
+#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
+void tuning() {
+    cc2500Strobe(CC2500_SRX); // enter in rx mode
     int count1 = 0;
     while (1) {
         count1++;
@@ -439,7 +352,7 @@ void tuning()
             count1 = 0;
             cc2500WriteReg(CC2500_0C_FSCTRL0, count);  // Frequency offset hack
             count = count + 10;
-            //cc2500Strobe(CC2500_SRX);//enter in rx mode
+            //cc2500Strobe(CC2500_SRX);// enter in rx mode
         }
         if (GDO_1) {
             ccLen = cc2500ReadReg(CC2500_3B_RXBYTES | CC2500_READ_BURST) & 0x7F;
@@ -455,8 +368,5 @@ void tuning()
             }
         }
     }
-    #if defined(DEBUG1)
-        Serial.println(count, HEX);
-    #endif
 }