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修改了一些代码

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admin
2026-06-28 23:50:53 +08:00
parent c9d25d7323
commit 8aa637be48
12 changed files with 210 additions and 1310 deletions
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rx/src/crfs.c
-62
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@@ -1,62 +0,0 @@
static uint8_t CRSF_CalcCRC(uint8_t *data, uint8_t len) {
uint8_t crc = 0;
for (uint8_t i = 0; i < len; i++)
crc = crsf_crc8_tab[crc ^ data[i]];
return crc;
}
static void CRFS_Init(void) {
/* 切换到 CRSF 波特率 420000 */
/* 420000 @ 24MHz: T2 reload = 65536 - 14 = 0xFFF2 */
T2H = 0xFF;
T2L = 0xF2;
AUXR |= T2x12;
AUXR |= T2R;
/* 8N1: 8数据位, 无校验, 1停止位 */
PCON &= ~SMOD0; /* SMOD0=0, 标准帧格式 */
SCON = 0x50; /* 模式1, REN=1, 8N1 */
}
static void CRFS_SendFrame(void) {
static uint8_t __xdata frame[28]; /* 0xEE + len + type + 22payload + crc */
static uint16_t __xdata crsf_ch[16];
uint8_t i;
/* CRSF RC通道帧: type=0x16 */
frame[0] = 0xEE; /* sync */
frame[1] = 24; /* length (type + payload + crc = 1+22+1) */
frame[2] = 0x16; /* RC channels type */
/* 将4路pwm值(250-500)映射到CRSF范围(0-1984, 中位992) */
for (i = 0; i < 4; i++) {
uint16_t val = pwm_ch[i];
if (val < PWM_MIN) val = PWM_MIN;
if (val > PWM_MAX) val = PWM_MAX;
/* pwm_ch: 250~500 → CRSF: 0~1984 (中位992) */
crsf_ch[i] = (uint16_t)((uint32_t)(val - PWM_MIN) * 1984 / (PWM_MAX - PWM_MIN));
}
for (i = 4; i < 16; i++) {
crsf_ch[i] = 992; /* 中位 */
}
/* 11-bit 打包到 payload (22字节) */
uint8_t *pl = frame + 3;
pl[0] = (uint8_t)(crsf_ch[0] & 0xFF);
pl[1] = (uint8_t)((crsf_ch[0] >> 8) | ((crsf_ch[1] & 0x07) << 3));
pl[2] = (uint8_t)((crsf_ch[1] >> 3) | ((crsf_ch[2] & 0x3F) << 5));
pl[3] = (uint8_t)((crsf_ch[2] >> 6) | ((crsf_ch[3] & 0x01) << 2) | ((crsf_ch[3] & 0x01) << 2));
/* 剩余通道用中间值填充 */
for (i = 4; i < 22; i++)
pl[i] = 0x00;
/* CRC8 (从 type 开始到 payload 结束) */
frame[25] = CRSF_CalcCRC(frame + 2, 23); /* type(1) + payload(22) */
/* 通过UART1发送 */
for (i = 0; i < 26; i++) {
SBUF = frame[i];
while (!TI);
TI = 0;
}
}
rx/src/crfs.h
-43
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@@ -1,43 +0,0 @@
/* ========================================================================
* CRFS (CRSF/Crossfire) 输出 (420kbps 8N1, 与UART1共用TX)
* 帧格式: 0xEE + len + type + payload + crc8
* RC通道帧: type=0x16, payload=22字节 (16ch × 11bit)
* ======================================================================== */
/* CRC8 查表 (多项式 0xD5, CRSF 标准, 放在 CODE 区) */
static const uint8_t __code crsf_crc8_tab[256] = {
0x00, 0xD5, 0x7F, 0xAA, 0xFE, 0x2B, 0x81, 0x54,
0x29, 0xFC, 0x56, 0x83, 0xD7, 0x02, 0xA8, 0x7D,
0x52, 0x87, 0x2D, 0xF8, 0xAC, 0x79, 0xD3, 0x06,
0x7B, 0xAE, 0x04, 0xD1, 0x85, 0x50, 0xFA, 0x2F,
0xA4, 0x71, 0xDB, 0x0E, 0x5A, 0x8F, 0x25, 0xF0,
0x8D, 0x58, 0xF2, 0x27, 0x73, 0xA6, 0x0C, 0xD9,
0xF6, 0x23, 0x89, 0x5C, 0x08, 0xDD, 0x77, 0xA2,
0xDF, 0x0A, 0xA0, 0x75, 0x21, 0xF4, 0x5E, 0x8B,
0x9D, 0x48, 0xE2, 0x37, 0x63, 0xB6, 0x1C, 0xC9,
0xB4, 0x61, 0xCB, 0x1E, 0x4A, 0x9F, 0x35, 0xE0,
0xCF, 0x1A, 0xB0, 0x65, 0x31, 0xE4, 0x4E, 0x9B,
0xE6, 0x33, 0x99, 0x4C, 0x18, 0xCD, 0x67, 0xB2,
0x39, 0xEC, 0x46, 0x93, 0xC7, 0x12, 0xB8, 0x6D,
0x10, 0xC5, 0x6F, 0xBA, 0xEE, 0x3B, 0x91, 0x44,
0x6B, 0xBE, 0x14, 0xC1, 0x95, 0x40, 0xEA, 0x3F,
0x42, 0x97, 0x3D, 0xE8, 0xBC, 0x69, 0xC3, 0x16,
0xEF, 0x3A, 0x90, 0x45, 0x11, 0xC4, 0x6E, 0xBB,
0xC6, 0x13, 0xB9, 0x6C, 0x38, 0xED, 0x47, 0x92,
0xBD, 0x68, 0xC2, 0x17, 0x43, 0x96, 0x3C, 0xE9,
0x94, 0x41, 0xEB, 0x3E, 0x6A, 0xBF, 0x15, 0xC0,
0x4B, 0x9E, 0x34, 0xE1, 0xB5, 0x60, 0xCA, 0x1F,
0x62, 0xB7, 0x1D, 0xC8, 0x9C, 0x49, 0xE3, 0x36,
0x19, 0xCC, 0x66, 0xB3, 0xE7, 0x32, 0x98, 0x4D,
0x30, 0xE5, 0x4F, 0x9A, 0xCE, 0x1B, 0xB1, 0x64,
0x72, 0xA7, 0x0D, 0xD8, 0x8C, 0x59, 0xF3, 0x26,
0x5B, 0x8E, 0x24, 0xF1, 0xA5, 0x70, 0xDA, 0x0F,
0x20, 0xF5, 0x5F, 0x8A, 0xDE, 0x0B, 0xA1, 0x74,
0x09, 0xDC, 0x76, 0xA3, 0xF7, 0x22, 0x88, 0x5D,
0xD6, 0x03, 0xA9, 0x7C, 0x28, 0xFD, 0x57, 0x82,
0xFF, 0x2A, 0x80, 0x55, 0x01, 0xD4, 0x7E, 0xAB,
0x84, 0x51, 0xFB, 0x2E, 0x7A, 0xAF, 0x05, 0xD0,
0xAD, 0x78, 0xD2, 0x07, 0x53, 0x86, 0x2C, 0xF9
};
static uint8_t CRSF_CalcCRC(uint8_t *data, uint8_t len);
static void CRFS_Init(void);
rx/src/eeprom.h
-12
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@@ -1,12 +0,0 @@
# ifndef CONFIG
# define CONFIG
# include "config.h"
# endif
static void IAP_Init(void);
static uint8_t IAP_ReadByte(uint16_t addr);
static void IAP_WriteByte(uint16_t addr, uint8_t dat);
static void IAP_EraseSector(uint16_t addr);
static uint8_t EEPROM_IsBound(void);
static void EEPROM_LoadConfig(void);
static void EEPROM_SaveConfig(void);
rx/src/nrf24.c
+2 -8
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@@ -1,16 +1,10 @@
/* ========================================================================
* NRF24L01 硬件 SPI 实现 (STC8H 内置 SPI)
* P1.3=MISO, P1.4=MOSI, P1.5=SCLK, P5.4=CSN(GPIO)
* P1.7=IRQ, P1.6=CE,
* ======================================================================== */
/* SPI 初始化: 主模式, 模式0, 6MHz @ 24MHz */
static void NRF_SPI_Init(void) {
SPCTL = SSIG | SPEN | MSTR; /* 0xD0: SSIG=1, SPEN=1, MSTR=1, CPOL=0, CPHA=0, fosc/4 */
SPSTAT = SPIF | WCOL; /* 清除标志 */
}
uint8_t NRF_SPI_TransferByte(uint8_t dat) {
uint8_t SPI_ReadWrite(uint8_t dat) {
SPDAT = dat;
/* 等待传输完成 */
while (!(SPSTAT & SPIF));
rx/src/nrf24.h
+54 -72
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@@ -7,11 +7,6 @@
* SPI 引脚: SCK=P1.5, CE=P1.6, IRQ=P1.7, CSN=P5.4, MISO=P1.3, MOSI=P1.4
* 使用 STC8H 硬件 SPI (SPI 默认引脚)
*/
/* SDCC mcs51 模式下缺少的标准类型 */
typedef unsigned char uint8_t;
typedef unsigned int uint16_t;
typedef unsigned long uint32_t;
/* ========== 引脚定义 (SDCC 语法) ========== */
__sbit __at(0x95) NRF_SCK; /* P1^5 */
@@ -21,89 +16,76 @@ __sbit __at(0xCC) NRF_CSN; /* P5^4 */
__sbit __at(0x93) NRF_MISO; /* P1^3 */
__sbit __at(0x94) NRF_MOSI; /* P1^4 */
/* ========== 寄存器地址 ========== */
#define NRF_CONFIG 0x00
#define NRF_EN_AA 0x01
#define NRF_EN_RXADDR 0x02
#define NRF_SETUP_AW 0x03
#define NRF_SETUP_RETR 0x04
#define NRF_RF_CH 0x05
#define NRF_RF_SETUP 0x06
#define NRF_STATUS 0x07
#define NRF_OBSERVE_TX 0x08
#define NRF_RPD 0x09
#define NRF_RX_ADDR_P0 0x0A
#define NRF_RX_ADDR_P1 0x0B
#define NRF_RX_ADDR_P2 0x0C
#define NRF_RX_ADDR_P3 0x0D
#define NRF_RX_ADDR_P4 0x0E
#define NRF_RX_ADDR_P5 0x0F
#define NRF_TX_ADDR 0x10
#define NRF_RX_PW_P0 0x11
#define NRF_RX_PW_P1 0x12
#define NRF_RX_PW_P2 0x13
#define NRF_RX_PW_P3 0x14
#define NRF_RX_PW_P4 0x15
#define NRF_RX_PW_P5 0x16
#define NRF_FIFO_STATUS 0x17
#define NRF_DYNPD 0x1C
#define NRF_FEATURE 0x1D
//////////////////////////////////////////////////////////////////////////////////////////////////////////
//NRF24L01寄存器操作命令
#define NRF_READ_REG 0x00 //读配置寄存器,低5位为寄存器地址
#define NRF_WRITE_REG 0x20 //写配置寄存器,低5位为寄存器地址
#define RD_RX_PLOAD 0x61 //读RX有效数据,1~32字节
#define WR_TX_PLOAD 0xA0 //写TX有效数据,1~32字节
#define FLUSH_TX 0xE1 //清除TX FIFO寄存器.发射模式下用
#define FLUSH_RX 0xE2 //清除RX FIFO寄存器.接收模式下用
#define REUSE_TX_PL 0xE3 //重新使用上一包数据,CE为高,数据包被不断发送.
#define NOP 0xFF //空操作,可以用来读状态寄存器
//SPI(NRF24L01)寄存器地址
#define CONFIG 0x00 //配置寄存器地址;bit0:1接收模式,0发射模式;bit1:电选择;bit2:CRC模式;bit3:CRC使能;
//bit4:中断MAX_RT(达到最大重发次数中断)使能;bit5:中断TX_DS使能;bit6:中断RX_DR使能
#define EN_AA 0x01 //使能自动应答功能 bit0~5,对应通道0~5
#define EN_RXADDR 0x02 //接收地址允许,bit0~5,对应通道0~5
#define SETUP_AW 0x03 //设置地址宽度(所有数据通道):bit1,0:00,3字节;01,4字节;02,5字节;
#define SETUP_RETR 0x04 //建立自动重发;bit3:0,自动重发计数器;bit7:4,自动重发延时 250*x+86us
#define RF_CH 0x05 //RF通道,bit6:0,工作通道频率;
#define RF_SETUP 0x06 //RF寄存器;bit3:传输速率(0:1Mbps,1:2Mbps);bit2:1,发射功率;bit0:低噪声放大器增益
#define STATUS 0x07 //状态寄存器;bit0:TX FIFO满标志;bit3:1,接收数据通道号(最大:6);bit4,达到最多次重发
//bit5:数据发送完成中断;bit6:接收数据中断;
#define MAX_TX 0x10 //达到最大发送次数中断
#define TX_OK 0x20 //TX发送完成中断
#define RX_OK 0x40 //接收到数据中断
/* ========== 命令 ========== */
#define NRF_CMD_R_REGISTER 0x00
#define NRF_CMD_W_REGISTER 0x20
#define NRF_CMD_R_RX_PAYLOAD 0x61
#define NRF_CMD_W_TX_PAYLOAD 0xA0
#define NRF_CMD_FLUSH_TX 0xE1
#define NRF_CMD_FLUSH_RX 0xE2
#define NRF_CMD_REUSE_TX_PL 0xE3
#define NRF_CMD_NOP 0xFF
/* ========== 状态标志 ========== */
#define NRF_STATUS_RX_DR 0x40
#define NRF_STATUS_TX_DS 0x20
#define NRF_STATUS_MAX_RT 0x10
/* ========== 配置常量 ========== */
#define NRF_RATE_250K 0x20
#define NRF_RATE_1M 0x00
#define NRF_RATE_2M 0x08
#define NRF_PA_MIN 0x00
#define NRF_PA_LOW 0x02
#define NRF_PA_HIGH 0x04
#define NRF_PA_MAX 0x06
#define NRF_ADDR_WIDTH 5
#define NRF_MAX_CHANNEL 125
#define NRF_PAYLOAD_SIZE 32
#define OBSERVE_TX 0x08 //发送检测寄存器,bit7:4,数据包丢失计数器;bit3:0,重发计数器
#define CD 0x09 //载波检测寄存器,bit0,载波检测;
#define RX_ADDR_P0 0x0A //数据通道0接收地址,最大长度5个字节,低字节在前
#define RX_ADDR_P1 0x0B //数据通道1接收地址,最大长度5个字节,低字节在前
#define RX_ADDR_P2 0x0C //数据通道2接收地址,最低字节可设置,高字节,必须同RX_ADDR_P1[39:8]相等;
#define RX_ADDR_P3 0x0D //数据通道3接收地址,最低字节可设置,高字节,必须同RX_ADDR_P1[39:8]相等;
#define RX_ADDR_P4 0x0E //数据通道4接收地址,最低字节可设置,高字节,必须同RX_ADDR_P1[39:8]相等;
#define RX_ADDR_P5 0x0F //数据通道5接收地址,最低字节可设置,高字节,必须同RX_ADDR_P1[39:8]相等;
#define TX_ADDR 0x10 //发送地址(低字节在前),ShockBurstTM模式下,RX_ADDR_P0与此地址相等
#define RX_PW_P0 0x11 //接收数据通道0有效数据宽度(1~32字节),设置为0则非法
#define RX_PW_P1 0x12 //接收数据通道1有效数据宽度(1~32字节),设置为0则非法
#define RX_PW_P2 0x13 //接收数据通道2有效数据宽度(1~32字节),设置为0则非法
#define RX_PW_P3 0x14 //接收数据通道3有效数据宽度(1~32字节),设置为0则非法
#define RX_PW_P4 0x15 //接收数据通道4有效数据宽度(1~32字节),设置为0则非法
#define RX_PW_P5 0x16 //接收数据通道5有效数据宽度(1~32字节),设置为0则非法
#define NRF_FIFO_STATUS 0x17 //FIFO状态寄存器;bit0,RX FIFO寄存器空标志;bit1,RX FIFO满标志;bit2,3,保留
//bit4,TX FIFO空标志;bit5,TX FIFO满标志;bit6,1,循环发送上一数据包.0,不循环;
//////////////////////////////////////////////////////////////////////////////////////////////////////////
/* ========== 函数声明 ========== */
/* 底层 SPI */
uint8_t NRF_SPI_TransferByte(uint8_t dat);
uint8 SPI_ReadWrite(uint8 dat);
/* 寄存器操作 */
uint8_t NRF24L01_ReadReg(uint8_t reg);
void NRF24L01_WriteReg(uint8_t reg, uint8_t value);
void NRF24L01_ReadBuf(uint8_t reg, uint8_t *buf, uint8_t len);
void NRF24L01_WriteBuf(uint8_t reg, const uint8_t *buf, uint8_t len);
uint8 NRF24_ReadReg(uint8 reg);
void NRF24_WriteReg(uint8 reg, uint8 value);
void NRF24_ReadBuf(uint8 reg, uint8 *buf, uint8 len);
void NRF24_WriteBuf(uint8 reg, const uint8 *buf, uint8 len);
/* 初始化与检测 */
void NRF24L01_Init(void);
uint8_t NRF24L01_Check(void);
void NRF24_Init(void);
bool NRF24_Check(void);
/* 配置 */
void NRF24L01_SetChannel(uint8_t ch);
void NRF24L01_SetRXAddr(uint8_t pipe, const uint8_t *addr);
void NRF24_SetConfig(uint8 ch);
void NRF24_SetRXAddr(uint8 pipe, const uint8 *addr);
/* 模式切换 */
void NRF24L01_RXMode(void);
void NRF24L01_TXMode(void);
/* 数据收发 */
uint8_t NRF24L01_RxPacket(uint8_t *data);
uint8_t NRF24L01_IsDataReady(void);
void NRF24L01_FlushRX(void);
uint8 NRF24L01_RxPacket(uint8 *data);
uint8 NRF24L01_IsDataReady(void);
void NRF24L01_FlushRX(void);
#endif /* __NRF24_H__ */
rx/src/sbus.c
-59
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@@ -1,59 +0,0 @@
static void SBUS_Init(void) {
/* 切换到 SBUS 波特率 100kbps */
/* 100000 @ 24MHz: T2 reload = 65536 - 60 = 0xFFC4 */
T2H = 0xFF;
T2L = 0xC4;
AUXR |= T2x12;
AUXR |= T2R;
/* 8E2: 8数据位, 偶校验, 2停止位 */
PCON |= SMOD0; /* SMOD0=1, 帧格式由SM2控制 */
SCON &= ~0x0E; /* 清除SM2, TB8 */
/* 注意: 对于SBUS, 标准是8E2, 但这里通过三极管反相,
* 所以实际发送的是反相SBUS信号 */
}
static void SBUS_SendFrame(void) {
static uint8_t __xdata frame[25];
static uint16_t __xdata sbus_ch[16];
uint8_t i;
/* SBUS 帧结构 */
frame[0] = 0x0F; /* 起始字节 */
/* 16通道 11-bit 编码 (这里只填充前4个通道, 其余为中间值) */
/* 将pwm值(250-500)映射到SBUS范围(172-1811) */
for (i = 0; i < 4; i++) {
uint16_t val = pwm_ch[i];
/* pwm_ch: 250~500 → SBUS: 172~1811 */
if (val < PWM_MIN) val = PWM_MIN;
if (val > PWM_MAX) val = PWM_MAX;
sbus_ch[i] = (uint16_t)((uint32_t)(val - PWM_MIN) * (1811 - 172) / (PWM_MAX - PWM_MIN) + 172);
}
for (i = 4; i < 16; i++) {
sbus_ch[i] = 992; /* 中间值 */
}
/* 11-bit 打包 */
frame[1] = (uint8_t)(sbus_ch[0] & 0xFF);
frame[2] = (uint8_t)((sbus_ch[0] >> 8) | ((sbus_ch[1] & 0x07) << 3));
frame[3] = (uint8_t)((sbus_ch[1] >> 3) | ((sbus_ch[2] & 0x3F) << 5));
frame[4] = (uint8_t)((sbus_ch[2] >> 6) | ((sbus_ch[3] & 0x01) << 2) | ((sbus_ch[3] & 0x01) << 2));
/* 简化: 只打包前4通道, 其余保持中间值 */
/* 简化处理 - 完整16通道打包太复杂, 用中间值填充 */
for (i = 5; i < 23; i++) {
frame[i] = 0x00;
}
frame[23] = 0x00; /* 标志字节 */
frame[24] = 0x00; /* 结束字节 */
/* 通过UART1发送 */
for (i = 0; i < 25; i++) {
SBUF = frame[i];
while (!TI);
TI = 0;
}
}
rx/src/sbus.h
-8
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@@ -1,8 +0,0 @@
/* ========================================================================
* SBUS 输出 (100kbps 8E2, 与UART1共用TX)
* ========================================================================
*/
static void SBUS_Init(void);
static void SBUS_SendFrame(void);
static const uint8_t __code crsf_crc8_tab[256];
rx/src/uart.c
-18
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@@ -4,24 +4,6 @@
* UART1 - 串口通信 (使用Timer2做波特率发生器)
* ======================================================================== */
static void UART1_Init(void) {
/* 使用 Timer2 做波特率发生器 */
/* 115200 @ 24MHz: T2 reload = 65536 - 52 = 0xFFCC */
T2H = 0xFF;
T2L = 0xCC;
AUXR |= T2x12; /* T2: 1T模式 */
AUXR |= T2R; /* 启动T2 */
/* UART1 配置: 8位可变波特率, 模式1 */
SCON = 0x50; /* 模式1, REN=1 */
AUXR |= S1ST2; /* UART1使用T2做波特率 */
PCON &= ~SMOD0; /* SMOD0=0, 帧格式8位数据 */
/* 使能接收中断 */
ES = 1;
RI = 0;
}
/* UART1 中断服务 */
void UART1_Interrupt(void) __interrupt(4) {
if (RI) {